Underwater vehicle control from a virtual environment interface

ABSTRACT

This paper describes a collaborative research effort initiated by Monterey Bay Aquarium Research Institute (MBARI), Stanford Aerospace Robotics Laboratory (ARL), and NASA Ames Research Center. The goal of this joint effort was to develop an experimental system which demonstrates real-time supervisory control of an underwater vehicle from an interactive, 3-D graphical interface.

REFERENCES

• 1: FONG, T. W. A Computational Architecture for Semi-autonomous Robotic Vehicles. In Proceedings of AIAA Computing in Aerospace 9 Conference (San Diego, CA, October 1993), AIAA.
• 2: PARDO-CASTELLOTE, G., AND SCHNEIDER, S. A. The Network Data Delivery Service: Real-Time Data Connectivity for Distributed Control Applications. In Proceedings of the International Conference on Robotics and Automation (San Diego, CA, May 1994), IEIEE, IEEE Computer Society.
• 3: WANG, H. H., MARKS, R. L., Rock, S. M., AND LEE, M. J. Task-Based Control Architecture for an Untethered, Unmanned Submersible. In Proceed,ings of the 8th Annual Symposium of Unmanned Untethered Submersible Technology (September 1993), :Marine Systems Engineering Laboratory, Northeastern University, pp. 137-147.

INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
      I.2.9 Robotics
          Subjects: Sensors

Additional Classification:
  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.6 Methodology and Techniques
          Subjects: Interaction techniques
      I.3.7 Three-Dimensional Graphics and Realism
          Subjects: Virtual reality

  J. Computer Applications
  J.7 COMPUTERS IN OTHER SYSTEMS
      Subjects: Command and control

General Terms:
Human Factors